CN112305525A - Underwater acoustic ranging signal processing method based on spread spectrum technology - Google Patents
Underwater acoustic ranging signal processing method based on spread spectrum technology Download PDFInfo
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Abstract
The invention provides an underwater acoustic ranging signal processing method based on a spread spectrum technology. After data received by the hydrophone is subjected to signal conditioning processes such as amplification and filtering, original data is formed through digital acquisition, and then signal processing processes such as quadrature baseband demodulation, low-pass filtering and down-sampling are carried out on the original data to form primary processing data. And after generating original reference data according to the spread spectrum parameters of the known underwater acoustic signals, carrying out orthogonal baseband demodulation, low-pass filtering, down-sampling and conjugation processing to form preliminary reference data. And performing convolution on the primary processing data and the primary reference data, and then performing modulus extraction to obtain a detection signal. In order to accurately estimate the signal propagation time, the clocks of the signal beacon transmitter and the underwater robot receiver are required to be synchronized, and the signal transmission time is the whole second of the clock. Different beacon transmitters and signal transmission moments are distinguished through different spreading codes of the same code family, so that the ranging service with high updating speed is realized. The underwater acoustic positioning navigation system is mainly used for underwater acoustic positioning navigation service meeting the requirement of simultaneous operation of a plurality of underwater robots.
Description
Technical Field
The invention belongs to the field of underwater positioning and navigation, and particularly relates to a signal processing method for underwater acoustic ranging.
Background
The underwater robot can replace human beings to finish the detection and development of ocean resources in deep water, thereby saving a great deal of cost for production. Meanwhile, the method embodies important value in the aspect of protecting national security and people property. The underwater positioning navigation technology is a difficult point and a key point of an underwater robot technology, and in practical application, the underwater positioning navigation becomes a relatively troublesome problem due to the small size and light weight of an underwater vehicle and the susceptibility to the influence of the ocean underwater environment. At present, navigation systems applied to underwater robots are generally classified into two types according to working modes of the navigation systems: one is an autonomous navigation system that does not require the assistance of external information, such as an inertial navigation system; another type is a navigation system with external information, such as a satellite radio navigation system like GPS/beidou/galileo, an underwater acoustic positioning navigation system, etc. Inertial navigation systems require navigation to be accomplished with the aid of the output of inertial devices. However, the inertial device can generate errors due to self-drifting, and the positioning errors of the inertial device accumulate over time without correction, so that the inertial device cannot be used independently in underwater long-range tasks. Although the positioning accuracy of a satellite radio navigation system such as a GPS is relatively high, electromagnetic waves are easily absorbed when propagating through water, and cannot be used for a long-range mission. The underwater acoustic positioning navigation system arranges a reference beacon in the working sea area in advance, and measures the distance by measuring the propagation time of an underwater acoustic signal from a transmitter to a receiver, so that the defect of long-range tasks of the underwater robot by an inertial navigation system and a satellite radio system can be overcome. But the traditional underwater sound positioning navigation system has obvious defects, the number of accommodating underwater robots is limited due to the question-answering work mode, and the updating rate of the positioning service is too slow. Therefore, it is considered to study a signal processing algorithm by means of a spread spectrum technique to solve the above problem.
Based on the spread spectrum technology, different beacon transmitters transmit positioning service signals outwards, and the underwater robot receiver receives the underwater sound signals to perform self-position calculation, so that the problem that the number of underwater robots contained in the system is limited due to the question-and-answer type operation mode of the traditional underwater sound positioning system is solved. Different transmitters and signal transmission moments are distinguished through different spreading codes of the same code family, so that the ranging service with high updating speed is realized. In order to ensure the realization of the above functions, the clocks of the signal transmitter and the signal receiver are required to be synchronized, and the signal transmission time is the whole second of the clock. The invention provides theoretical support and engineering application guarantee for cooperative operation of the underwater robot.
Disclosure of Invention
The invention relates to an underwater acoustic ranging signal processing method based on a spread spectrum technology, which comprises the following steps:
a1: after signal conditioning such as amplification and filtering is carried out on data received by the hydrophone, digital acquisition is carried out through an analog-digital acquisition circuit to form original data C1;
a2: performing signal processing processes such as quadrature baseband demodulation, low-pass filtering, down-sampling and the like on the original data C1 to form primary processing data C2;
a3: performing quadrature baseband demodulation, low-pass filtering, down-sampling and conjugation processing according to the existing signal parameters and the generated original reference data C3 to form primary reference data C4;
a4: performing convolution operation on the primary processing data C2 and the primary reference data C4, and then performing modulus extraction to obtain a detection signal C5;
a5: and comparing the detection signal C5 with a threshold, judging the signal propagation time when the detection signal C5 is larger than the threshold, and further calculating the distance between the transmitter and the receiver.
In order to accurately estimate the signal propagation time, the clock synchronization of the beacon signal transmitter and the underwater robot signal receiver needs to be ensured.
The signal transmission moment is the whole second start of the clock, namely the whole second is zero millisecond, zero microsecond and zero nanosecond.
Different transmitters and transmission signal moments are distinguished by different spreading codes of the same code family. If the number of the transmitters is N, the number of the whole second moment of the mark transmitting signal is marked as M, and the same code family shares D groups of different pseudo-random codes, the relationship of the three needs to satisfy:
N×M≤D
in order to reduce the amount of computation due to traversing different spreading codes, it is desirable to minimize the number of whole second instants M of the transmitted signal. If the maximum acting distance of the underwater acoustic ranging is L, the sound velocity in water is c, and the updating frequency of the underwater acoustic positioning service is H seconds, M needs to satisfy the following conditions:
wherein ,
is rounded up.
Compared with the prior art, the invention has the beneficial effects that:
when the positioning navigation service is required by cooperative operation of a plurality of underwater robots, a beacon transmitter can be adopted to transmit signals, and the underwater robots only receive the service mode of acoustic signals. Therefore, the condition that the number of underwater robots accommodated by the system is limited due to the question-answering mode of the traditional underwater sound positioning system is avoided. In addition, the invention adopts different pseudo-random code signals to mark the transmitting starting time of the signals, so that the higher requirement of the underwater robot on the updating rate of the positioning service becomes possible. The invention provides a theoretical basis and an engineering application method for the cooperative work of the multi-underwater robot.
Drawings
Fig. 1 is a diagram of a simulation of signals generated by a signal generator.
Figure 2 is a diagram of a ranging signal received by a simulated hydrophone.
Fig. 3 is a graph of signal simulation after low-pass filtering.
Fig. 4 is a schematic diagram of the detection signal obtained after processing.
Detailed Description
The invention relates to an underwater acoustic ranging signal processing method based on a spread spectrum technology, which comprises the following steps:
a1: after signal conditioning such as amplification and filtering is carried out on data received by the hydrophone, digital acquisition is carried out through an analog-digital acquisition circuit to form original data C1;
a2: performing signal processing processes such as quadrature baseband demodulation, low-pass filtering, down-sampling and the like on the original data C1 to form primary processing data C2;
a3: performing quadrature baseband demodulation, low-pass filtering, down-sampling and conjugation processing according to the existing signal parameters and the generated original reference data C3 to form primary reference data C4;
a4: performing convolution operation on the primary processing data C2 and the primary reference data C4, and then performing modulus extraction to obtain a detection signal C5;
a5: and comparing the detection signal C5 with a threshold, judging the signal propagation time when the detection signal C5 is larger than the threshold, and further calculating the distance between the transmitter and the receiver.
Furthermore, in order to accurately estimate the signal propagation time, the clock synchronization of the beacon signal transmitter and the underwater robot signal receiver needs to be ensured.
Further, the signal transmission time is the whole second start of the clock, i.e. the whole second is zero millisecond, zero microsecond and zero nanosecond.
Furthermore, different transmitters and transmission signal moments are distinguished by different spreading codes of the same code family. If the number of the transmitters is N, the number of the whole second moment of the mark transmitting signal is marked as M, and the same code family shares D groups of different pseudo-random codes, the relationship of the three needs to satisfy:
N×M≤D
further, in order to reduce the amount of computation due to traversing different spreading codes, it is necessary to minimize the number of whole second time instants M of the transmitted signal. If the maximum acting distance of the underwater acoustic ranging is L, the sound velocity in water is c, and the updating frequency of the underwater acoustic positioning service is H seconds, M needs to satisfy the following conditions:
wherein ,
is rounded up.
The above-described solving steps are detailed in connection with simulation data.
Suppose the working depth requirement of the system is 6000 m;
the signal center frequency is set as 11 kHz;
the propagation loss was 86 dB;
the noise source level is 85 dB;
the sound source level of the transducer is 171 dB;
the detection threshold is 20 dB;
the spread spectrum code adopts 7-level Gold code, and the code rate is 2.2 kHz;
the signal sampling rate is 70 kHz;
the demodulation frequency is 8 kHz;
the passband of the low-pass filtering is 0-6 kHz.
The results obtained by the simulation are shown in fig. 1 to 4. As can be seen from FIG. 4, the signal processing method provided by the invention can realize the correct processing of the underwater acoustic ranging signal under the condition that the signal-to-noise ratio of the transmission signal generated according to FIG. 1 is 0 dB.
Claims (5)
1. An underwater acoustic ranging signal processing method based on spread spectrum technology comprises the following steps:
the method comprises the following steps: after signal conditioning such as amplification and filtering is carried out on data received by a hydrophone, original data are formed through digital acquisition;
step two: performing signal processing processes such as quadrature baseband demodulation, low-pass filtering, down-sampling and the like on the original data to form primary processing data;
step three: and performing quadrature baseband demodulation, low-pass filtering, down-sampling and conjugation processing to form preliminary reference data according to the existing signal parameters and the generated original reference data.
Step four: and performing convolution operation on the preliminary processing data and the preliminary reference data, and then performing modulus extraction to obtain a detection signal.
Step five: and comparing the detection signal with a threshold, judging the signal propagation time when the detection signal is larger than the threshold, and further solving the distance between the beacon transmitter and the underwater robot receiver.
2. The underwater acoustic ranging signal processing method based on the spread spectrum technology as claimed in claim 1, wherein the clock synchronization between the beacon signal transmitter and the underwater robot signal receiver is required to be ensured in order to accurately estimate the signal propagation duration.
3. The underwater acoustic ranging signal processing method based on the spread spectrum technology as claimed in claim 1, wherein the signal transmission time is the beginning of an integer second of the clock, i.e. an integer second is zero millisecond, zero microsecond and zero nanosecond.
4. The method of claim 1, wherein the different transmitters and the time of transmitting signals are distinguished by different spreading codes in the same code family. If the number of the transmitters is N, the number of the transmitters is used for marking the whole second moment of the transmitted signal as M, and the same code family has D groups of different pseudo-random codes in common, the relationship of the three needs to satisfy:
N×M≤D 。
5. an underwater acoustic ranging signal processing method based on spread spectrum technology as claimed in claims 1 and 4, wherein the number of whole second time instants M of the transmitted signal is required to be minimized in order to reduce the amount of calculation caused by traversing different spreading codes. If the maximum acting distance of the underwater acoustic ranging is L, the sound velocity in water is c, and the updating frequency of the underwater acoustic positioning service is H seconds, M needs to satisfy the following conditions:
wherein ,
is rounded up.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08114665A (en) * | 1994-10-14 | 1996-05-07 | Japan Radio Co Ltd | Radio sonobuoy position detecting system |
| CN103988094A (en) * | 2011-08-16 | 2014-08-13 | 欧洲太空署 | A navigation system using spreading codes based on pseudo-random noise sequences |
| CN109407098A (en) * | 2018-08-30 | 2019-03-01 | 中国船舶重工集团公司第七〇五研究所 | A kind of implementation method for the parallel processing algorithm handling orthogonal pulses string signal |
| CN111427030A (en) * | 2020-06-12 | 2020-07-17 | 飞马滨(北京)科技研发有限公司 | Underwater acoustic signal modulation and processing method for positioning underwater robot |
| CN111580038A (en) * | 2020-04-02 | 2020-08-25 | 浙江工业大学 | Acoustic underwater beacon signal processing system based on FPGA |
-
2020
- 2020-10-14 CN CN202011095675.0A patent/CN112305525B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08114665A (en) * | 1994-10-14 | 1996-05-07 | Japan Radio Co Ltd | Radio sonobuoy position detecting system |
| CN103988094A (en) * | 2011-08-16 | 2014-08-13 | 欧洲太空署 | A navigation system using spreading codes based on pseudo-random noise sequences |
| CN109407098A (en) * | 2018-08-30 | 2019-03-01 | 中国船舶重工集团公司第七〇五研究所 | A kind of implementation method for the parallel processing algorithm handling orthogonal pulses string signal |
| CN111580038A (en) * | 2020-04-02 | 2020-08-25 | 浙江工业大学 | Acoustic underwater beacon signal processing system based on FPGA |
| CN111427030A (en) * | 2020-06-12 | 2020-07-17 | 飞马滨(北京)科技研发有限公司 | Underwater acoustic signal modulation and processing method for positioning underwater robot |
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